NDLI: Opening the door to new sensor-based robot applications

Content Provider	IEEE Xplore Digital Library
Author	Kroger, T.
Copyright Year	2011
Description	Author affiliation: Reflexxes GmbH, Germany (Kroger, T.)
Abstract	This paper introduces the Reflexxes Motion Libraries and describes, how they open doors for next generation robot motion controllers. When robots become capable to perform sensor-guided and sensor-guarded motions, there is no predefined path anymore, and motions have to be calculated on-line, that is, during the motion. The Reflexxes Motion Libraries calculate jerk-limited motions within one control cycle only (typically 1ms or less). This way, robots can instantaneously react to unforeseen sensor events, which opens the door to a huge number of new robot capabilities and fundamentally new motion control features. For instance: unforeseen switchings of coordinate frames, unforeseen switchings of control state spaces, deterministic and instantaneous reactions to sensor signals, safe and stable reactions to sensor failures, simple visual servo control, and stable switched-system control. All these features are important for the execution of sensor-based robot motions and to realize new applications as will be outlined in this paper.
Starting Page	1
Ending Page	4
File Size	1592482
Page Count	4
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980578
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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